Torpedo director



June 194& R. E. CROOKE 2,402,025,

' TORPEDO DIRECTOR File 1 Jan. 27, 1940- 4Sheets-Sheet 1 Rsm Br Bf GY RO-ANGLE REFERENCE POINT .INIVENTOR.

RaymamZE'. Crooks ATTORNEY.

BIRCH EH3 a mww June 11,- 1946.

R. E. CROOKE TORPEDO DIRECTOR Filed Jan. 27, 1940 4 Sheets-Sheet 3 Nw mmmaouuaE.

INVENTOR 15'. 1'00 ATTORNEY:

R. ECROOKE TORPEDO DIRECTOR Filed Jan. 27, 19.40

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GYRO AN 6 LE TRANSMITTER INVENTOR. RaymondECrooke Am!- Amway,

June ll, 1946;

06 Luau a L-HUI:

Patented June 11, 1946 TORPEDO DIRECTOR Raymond E. Grooke, Great Neck, N. Y., assignor to Ford Instrument Company, Inc., Long Island City, N. Y., a corporation of New York Application January 27, 1940, Serial No. 315,901

Claims.

This invention relates to torpedo directors and particularly to mechanism for computing the values of the various factors involved.

The principal object of this invention is to provide a mechanism for computing the various factors involved in the directing of a torpedo to a point of intercept with the target, particularly for a torpedo fired from a fixed tube so that the path of the torpedo includes a curved portion before the torpedo has settled down on the straight path to the target.

Another object of the invention is to solve the problem of directing a torpedo to a target on the basis of the analysis of the path of a fictitious torpedo fired from a reference point at the same time the actual torpedo is fired and traveling throughout its run at a constant speed equal to the speed of the actual torpedo and on a constant course which is the same course that the actual torpedo takes upon its settling down on a steady course to the target,

A further object of the invention is to convert the observed range and bearing of the target from the observing station to components measured along coordinates parallel to and at right angles to the centerline of the fixed tube, and to locate the reference point, from which the fictitious torpedo is assumed to start, by means of components measured along the same coordinates,

Other objects will be apparent from a consideration of this specification and the drawings, forming a part of this application.

Heretofore the problem of directing a torpedo to a target has been solved as from the observing station without regard to the turning radius of the torpedo in getting on its final course and then, compensating corrections were added to the results of the solution to allow for this variable. Various methods for solving the problem and for determining the corrections have been employed.

The present invention contemplates the solution of the problem of directing a torpedo to a target by reference to the path of a fictitious torpedo starting from an arbitrary and fictitious point and traveling throughout its run at the standard speed of the actual torpedo and on a course the same as that of the actual torpedo after it has settled down on a steady course to the point of intercept.

Fig. 1 is a diagrammatic representation of the problem of directing a torpedo to a target;

Figs. 2, 3 and 4, taken together, is a diagrammatic representation of the arrangement of mechanisms to solve the problem disclosed in Fig. 1.

The firing ship, whose periscope is o, is on a course om, Co degrees from ON or North. The target at t is on a course tn, Ct degrees from tN or North.

The dotted line Z, Z is the locus of reference points, r, at which a fictitious torpedo running at a constant speed equal to that of the final speed of the actual torpedo, and starting at the instant of the firing of the actual torpedo will merge with the path of the actual torpedo when it settles down on a steady course to the target. The relation of the reference point r and the periscope of the firing ship 0 is a function of the gyro angle Bf. In practice, the values of the coordinates a and b are found by experiment for the various gyro angles by observing the paths of a torpedo fired with various settings of gyro angle and noting the time intervals and. points in its runs at which the torpedo settles down on a steady course. The points 1' are obtained by extending the steady courses of the torpedo back from the observed first steady point in the runs distance equal to the speed of the torpedo on its steady course multiplied by the time intervals it took for the fired torpedo to reach the steady points. From the positions of the points r relative to the observing point .0, the values of a and b are obtained for the various gyro angle settings, from which curves are plotted and cams are constructed to give the values of the coordinates for any gyro angle.

From the observed range R and the relative bearing Br sides op and tp of triangle otp are found, from which tq and qr of triangle qtr are obtained. From the observed speed of the target (St), the target angle Al, the range RI from the reference point, and the speed of the torpedo $7, the bearing prediction angle GI and the gyro angle Bf are obtained.

The course of the firing ship Co is set up in the closed or regenerative mechanism by crank I rotating shaft 2, or it may be automatically introduced by servo motor 3 controlled by repeater motor 4 in the conventional manner. The speed of the firing ship is set up in the mechanism by crank 5 rotating shaft 6 or this value may be set up automatically in the mechanism by servo motor I controlled by repeater motor 8, in the conventional manner. The course of the target is set up in the mechanism by crank 9 rotating shaft I0 and the speed of the target is set up in the mechanism by crank II rotating shaft I2. The true bearing of the target (B) is set up in the mechanism by crank I3 rotating shaft I4. The range is set up in the mechanism by crank I5 rotating shaft I6.

As these factors may be observed intermittently it is desirable that they be continuously generated. To this end, the true bearing is transmitted to differential IT. A second side of this differential is connected by shaft I8 to differential I9 Where the true bearing is combined with the course of the target to obtain the target angle (A) represented by the rotation of shaft 20. The target angle, without any qualifications,

is defined as the angle at the target between the course of the target and a line joining the target and the firing ship. From the upper part of Fig. 1 it will be seen that CT plus A equals 180 plus B. A therefore equals B minus CT plus a constant. The signs of the factors and the constants in the equations are taken into consideration at the time of the assembly of the various gears in the apparatus. For example, in applying the equation A=BCt+18 to the mechanism the direction of rotation through the gearing will be such that increasing values of bearing (B) will cause increasing values of the target angle A, increasing values of Ct will decrease the values of target angle A. The constant (+180) is provided for by setting the dial, representing target angle (A), to read 180 more than the dial representing the bearing B when the targets course (Ct) is set at zero. The target angle (A) and the speed of the target (St) are fed into target component solver 2|. Likewise the true bearing of the target (B) is combined with the course of the firing ship (C0) represented by the rotation of shaft 2, in differential 22 from which is obtained, as the third side of the differential, the angle Br or the relative bearin of the target, represented by the rotation of shaft 23. The relative bearing of the target (Br) and the speed of the firing ship (So) are fed into ships component solver 24. The X component of the solver 2| represented by the rotation of shaft 25 and the X component of the ships solver represented by the rotation of shaft 26 are combined in differential 21, the output of which, shaft 28, represents the rate of change of the true bearing multiplied by the range (RdB). Shaft 28 is connected to the control member 29 of an integrator whose driving plate 30 is rotated at a constant speed by motor 3|. The output of this integrator (IRdB), represented by the rotation of shaft 32, is connected to the driving plate of an integrator 33 whose control element 33 is moved in proportion to l/R, as will be explained later. The output of integrator 33, represented by the rotation of shaft 34, is proportional to BdB divided by R or MB or AB. Shaft 34 is connected to the third side of differential l1.

Likewise, the Y components of the speed of the target, represented by the rotation of shaft '35, and the Y component of the speed of the ship, represented by the rotation of shaft 36, are combined in differential '31. The output of this differential, represented by the rotation of shaft 38, is in proportion to the rate of change of the range dR. Shaft 38 is connected to the control element 39 of integrator 40. The output of this integrator 4|], AR represented by the rotation of shaft 4|, is connected to shaft l6 by differential 42, the output of which, represented by the rotation of shaft 43, is in proportion to the range R. Shaft '43 is connected to a cam mechanism 44 whose output 33 is in proportion to l/R previously referred to.

The range and relative bearing of the target are introduced into range component solver 45, the outputs of which are shaft 46 which rotates in proportion to R cos Br and shaft 41 which rotates in proportion to R sin Br.

The components a and b of the reference point 1' are generated by cams 48 and 49 respectively as a function of the gyro angle Bf. The shapes of the cams are such that the motions of the followers will respectively represent the two coordinates of the reference point from the observing point, as previously described. This gyro angle is obtained by a closed system comprising a target component solver 50, a torpedo component solver 5|, a gyro angle motor 52 and a gyro angle motor control switch 52 as follows: The relative bearing shaft 23 is combined with the target angle shaft 20 in differential 54 the output of which is ABr, represented by the rotation of shaft 55, which is connected to one side of differential 56. The second side of differential 56 is shaft 51 .whose rotation is in proportion to the bearing of the target from the reference point 1' (Bl) whose derivation will be described later. The output of differential 56, represented by the motion of shaft 58, is in proportion to the angle Al, as this angle equals ABr+B| and is one of the inputs of the target component solver 50. The other input of the target component solver is represented by the rotation of shaft |2, which is in proportion to the speed of the target.

The outputs of target component solver 50 are XlSt, represented by the rotation of the shaft 59, and YISt, represented by the rotation of shaft 60.

The inputs to the torpedo component solver 5| are the speed of the torpedo Sf, represented by the length of the vector 6|, which may be varied according to the type of torpedo being fired. The other input is a rotational movement from the gyro angle motor 52 connected by shaft 53 to the plate of the component solver 5|.

In accordance with the well known method of solution for gyro angle, that the cross component of torpedo speed and angle is equal to the cross component of target speed and course, the gyro angle in the present problem is solved correctly if XlSt equals XSj (see Fig, 1). This condition is automatically obtained by connecting the X components of target component solver 50, represented by rotation of shaft 59, and the X component of the torpedo component solver 5|, represented by the rotation of shaft 62, to differential 63, the output of which, shaft 64, controls the gyro angle control switch 52'. This gyro angle control switch causes the motor 52 to operate in one direction or the other until the component XSf becomes equal to the component XlSt, when the output of gyro angle motor 52 will be in proportion to the bearing prediction angle GI.

The relative bearing of the target from the reference point 1 (Bl) plus the bearing prediction angle is the relative gyro angle and numerically equals 360 minus the gyro angle Bf. This angle is obtained by connecting shafts 53 and 51 together in differential 65. The output of this differential, represented by the rotation of shaft 66, is the gyro angle Bf. Shaft 66 is connected to a gyro angle transmitter 61 as well as the input of cams 4B and 49, as referred to hereinafter. The output of cam 48, represented by the rotation of shaft 68, is combined with R sin Br (shaft 41) in differential 69, the output of which is R sin Br+a, represented by therotation of shaft 1|] which is connected to one side of vector solver 1|. The output of cam 49, represented by the rotation of shaft 12, is combined with R cos Br (shaft 46) by differential 13, the output of which (shaft 14) is b-R cos Br, which is the other input to vector solver 1|. The outputs of this vector solver are RI, represented by the rotation of shaft 15, and BI, represented by the rotation of shaft 51, referred to hereinabove.

The fact that the gyro angle B which is the search their final quantity sought, is used to set the cams 48 and 49, makes the system a closed or regenerative system, that is, a system in which the several known factors of the problem are cranked in, moving the various mechanisms according to their mechanical constructions and relations until a certain positional relation exists between two parts of a control element, and this positional relation exists when a true solution of the problem has been reached. The true solution exists When the value of XlSt, represented by the position of shaft 59, equal the value of XS), represented by the position of shaft 62. If the two values are not equal, contact arm 52 will be on the proper contact of the gyro angle control switch to set up the proper positional relation between shaft 59 and shaft 62 by means of motor 52, which is connected to all of its associated mechanisms in the system by shaft 53.

Referring to Fig. 1 it will be seen that torpedo run R7 is to RI as the torpedo speed (Sf) is to the sum of the components g5 and ylSt, that 1s:

fl i Rf 2/ f r l but Sf is considered a constant, therefore This division is performed by divider 18 whose inputs are shaft 15, the rotation of which is proportional to RI, and shaft 11, whose rotation is proportional to ylSt-l-ySf. This motion is obtained by combining the Y components of the target and torpedo component solvers 58 and 5| respectively by differential 18 connected to shafts 60 and 19.

The angles of ships course and gyro angle are set up for visual observation in dial group 80. The true bearing of the target (B) is connected to the larger dial 8| by shaft I8. The relative bearing of the target (Br) is connected to plate 82 by shaft 23. These dials are read against a fixed index 80' to respectively indicate true and relative bearing of the target. A pointer 83 indicates gyro angle when read against the dial or plate 82 and receives its motion from shaft 84 which is connected to differential 85. The inputs into this differential are the relative bearing of the target (Br), represented by the rotation of the shaft 23, and the gyro angle (Bf), represented by the rotation of shaft 66. The ships course is observed by referring the center line of the represented ship on dial 82 to the largest dial 8 I The dial group 88 indicates the angles at the target. The larger dial is the true bearing of the target and is driven by shaft l8. The smaller dial is target angle and is driven by shaft 28. The pointer 81, representing the angle of impact Af when read against the target angle dial, is rotated by shaft 84. When the bow of the target is read against the large dial, the reading is target course. The fixed pointer 88 read against the target dial gives the target angle (A).

Dials indicating the instantaneous values of the various factors are inserted as may be desired, such as dial 89 indicating the speed of the target, dial 911 indicating the speed of the firing ship, dial 9| indicating the yro angle. The instantaneous range is indicated by counter 92.

In a mechanism of this type, resort may be taken to follow-up motors and controls, whenever the load on the output of individual parts of the mechanism would decrease the required accuracies. Such arrangements are shown at 93, 94, and 96. The motors (M) receive their power from electric leads 9'! and 98. A differential controls an electric switch which controls the motor connected to the driven output shaft. A these mechanisms are Well known in the prior art and form no part of this invention no further description of their operation is believed to be required.

I claim:

1. In a torpedo director of the regenerative type, means settable in accordance with the movement of the target including variable speed devices for continuously generating the range and true bearing of the target from an observing point, means for converting the true bearing to bearing relative to a line at the observing point, means for resolving the said range into rectangular components along rectangular coordinates one of which is said line, means for determining with reference to the firing ship a reference starting point of a fictitious torpedo starting at the instant of firing of the actual torpedo and traveling at a constant speed equal to that of the fired torpedo and on a course the same as that of the fired torpedo after it has settled down on its steady course to the target, including means for determining the components of position of the reference point along said coordinates and combining those components with the said components of range and a mechanical vector solver and means for setting it according to the combined components and thereby obtaining a vector output representing the range and bearing of the target from the reference point, means for resolving the speed of the target into components along rectangular coordinates one of which is the bearing of the target from the reference point,

means for resolving the speed of the torpedo.

into components along the last mentioned coordinates, comparing means settable according to the said components of target speed and torpedo speed along the ordinate at right angles to the bearing of the target from the reference point and operative when the tWo components are equal to generate an angle at the reference point which is subtended by the coincident components, and means for combining the said generated angle and the bearing of the target from the reference point whereby the gyro angle of the fired torpedo is determined.

2. In a torpedo director of the regenerative type, means settable in accordance with the movement of the target including variable speed devices for continuously generating the range and true bearing of the target from an observing point, means for converting the true bearing to bearing relative to -a line at the observing point, means for resolving the said range into rectangular components along rectangular coordinates one of which is said line, means for determining with reference to the firing ship a reference starting point of a fictitious torpedo starting at the instant of firing of the actual torpedo and traveling at a constant speed equal to that of the fired torpedo and on a course the same as that of the fired torpedo after it has settled down on its steady course to the target, including means for determining the components of position of the reference point along said coordinates and combining those components with the said components of range and a mechanical vector solver and means for setting it according to the combined components and thereby obtaining a vector output representing the range and bearing of the target from the reference point, means for resolving the speed of the target into components along rectangular coordinates one of which is the bearing of the target from the reference point, means for resolving the speed of the torpedo into components along the last mentioned coordinates, comparing means settable according to the said componentsof target speed and torpedo speed along the ordinate at right angles to the bearing of the target from the reference point and automatically operative when the two components are equal to generate an angle at the reference point which is subtended by both of said last mentioned components, and means for combining the said generated angle and the bearing of the'target from the reference point whereby the gyro angle of the fired torpedo is determined.

3. In a torpedo director of the regenerative type, means settable in accordance with the movement of the target including variable speed devices for continuously generating the range and true bearing of the target from an observing point, means for converting the true bearing to bearing relative to a line at the observing'point, means for resolving the said range into rectangular components along rectangular coordinates one of which is said line, means for determinin with reference to the firing ship and along said coordinates a reference starting point of a fictitious torpedo starting at the instant of firing of the actual torpedo and traveling at a constant speed equal to that of the fired torpedo and on a course the same as thatof the fired torpedo after it has settled down on its steady course to the target, means for transforming the said generated range and bearing of the target from the firing ship to generated range and bearing of the target from the reference point and generating the range and bearing of the target from the reference point, means for resolving the speed of the target into components along rectangular coordinates one of which is the bearing of the target from the reference point, means for resolving the speed of the torpedo into components along the last mentioned coordinates, comparing means settable according to the said components of target speed and torpedo speed along the ordinate at right angles to the bearing of the target from the reference point and operative when the two components are equal to generate an angle at the reference point which is subtended by the coincident components, and means for combining the said generated angle and the bearing of the target from the reference point whereby the gyro angle of the fired torpedo is determined.

4. In a torpedo director of the regenerative type, means settable in accordance with the movement of the target including variable speed devices for continuously generating the range and true bearing of the target from an observing point, means for converting the true bearing to bearing relative to a line at the observing point, means for resolving the said range into rectangular components along rectangular cordinates one of which is said line, means for determining with reference to the firing ship a reference starting point of a fictitious torpedo starting at the instant of firing oi the actual torpedo and traveling at a constant speed equal to that of the fired torpedo and on a course the same as that of the fired torpedo after it has settled down on its steady course to the target, including means for determining the components of position of the reference point along said coordinates and combining those components with the said components of range and a mechanical vector solver and means for setting it according to the combined components and thereby obtaining a vector output representing the range and bearing of the target from the reference point, computing means settable according to the speed of the target and the combined angular output of said vector solver and the target angle and the relative bearing of the target operable to resolve the motion of the target into rectangular components along coordinates one of which is the bearing of the target from the reference point, computing means settable according to the speed of the torpedo and a generated angle operative to determine the motion of the torpedo along the last mentioned coordinates, means for comparing the outputs of said last two mentioned means that are along the ordinate at right angles to the bearing of the target from the reference point, means controlled by said comparing means for controlling the said generated angle, and means for combining the generated angle and the bearing of the target from the reference point whereby the gyro angle of the torpedo is determined.

5. In a torpedo director, means settable in accordance with the range and true bearing of a target from an observing point, means for converting the true bearing to hearing relative to a line at the observing point, means for resolving the said range into rectangular components along rectangular coordinates one of which is said line,

'means for determining with reference to the observing point and along said coordinates a reference starting point of a fictitious torpedo start- :ing at the instant of firing of the actual torpedo 'and traveling at a constant speed equa1 to that of the fired torpedo and on a course the same as that of the fired torpedo after it has settled down on its steady course to the target, vector means operable by the settable means and the reference point determining means for transforming the range and bearing of the target from the observ ing point to the range and bearing from the reference point, means settable according to the direction of movement and generated bearing of the target and means operable thereby for resolving the speed of the target into components along rectangular coordinates one of which is the bearing of the target from the reference point, means for resolving the speed of the torpedo into components along the last mentioned coordinates, comparing means settable accord- .ing to the said components of target speed and torpedo speed along the ordinate at right angles to th bearing of the target from the reference .point and operative when the two components are equal to generate an angle at the reference point which is subtended by the coincident components, and means for combining the said generated angle and the bearing of the target from the reference point whereby the gyro angle of the fired torpedo is determined.

RAYMOND E, CROOKE. 

